from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import ExecuteProcess


def generate_launch_description():
    return LaunchDescription([
        Node(
            package = "ros2_py_pkg",
            executable = "rpm_pub.py",
            name = "rpm_pub_node"
        ),
        Node(
            package = "ros2_py_pkg",
            executable = "speed_calc.py",
            name = "speed_pub_node",
            parameters = [
                {"wheel_radius": 0.5}
            ]
        ),
        ExecuteProcess(
            cmd = ["ros2", "topic", "list"],
            output = "screen"
        )
    ])